Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 684 | killagreg | 1 | #ifndef _UBX_H |
| 2 | #define _UBX_H |
||
| 3 | |||
| 4 | #define INVALID 0x00 |
||
| 5 | #define VALID 0x01 |
||
| 6 | #define PROCESSED 0x02 |
||
| 7 | |||
| 8 | |||
| 9 | #define SATFIX_NONE 0x00 |
||
| 10 | #define SATFIX_DEADRECKOING 0x01 |
||
| 11 | #define SATFIX_2D 0x02 |
||
| 12 | #define SATFIX_3D 0x03 |
||
| 13 | #define SATFIX_GPS_DEADRECKOING 0x04 |
||
| 14 | #define SATFIX_TIMEONLY 0x05 |
||
| 15 | |||
| 16 | |||
| 17 | /* enable the UBX protocol at the gps receiver with the following messages enabled |
||
| 18 | 01-02 NAV - POSLLH |
||
| 19 | 01-03 NAV - STATUS |
||
| 20 | 01-08 NAV - POSUTM |
||
| 21 | 01-12 NAV - VELNED */ |
||
| 22 | |||
| 23 | |||
| 24 | typedef struct |
||
| 25 | { |
||
| 26 | uint8_t satfix; // type of satfix |
||
| 27 | int32_t utmnorth; // in cm (+ = north) |
||
| 28 | int32_t utmeast; // in cm (+ = east) |
||
| 29 | int32_t utmalt; // in cm (+ = top) |
||
| 30 | int32_t velnorth; // in cm/s |
||
| 31 | int32_t veleast; // in cm/s |
||
| 32 | int32_t veltop; // in cm/s |
||
| 33 | int32_t longitude; // in 1e-07 deg |
||
| 34 | int32_t latitude; // in 1e-07 deg |
||
| 35 | int32_t altitude; // in mm |
||
| 36 | uint8_t status; // status of data: invalid | valid |
||
| 37 | } GPS_INFO_t; |
||
| 38 | |||
| 39 | //here you will find the current gps info |
||
| 702 | killagreg | 40 | extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| 684 | killagreg | 41 | |
| 724 | killagreg | 42 | // initialized the upx parser |
| 43 | extern void ubx_init(void); |
||
| 44 | |||
| 684 | killagreg | 45 | // this function should be called within the UART RX ISR |
| 46 | extern void ubx_parser(uint8_t c); |
||
| 47 | |||
| 48 | #endif //_UBX_H |